File size: 2,162 Bytes
83fcd93 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 | <?xml version="1.0" ?>
<robot name="partnet_15b5c54a8ddc84353a5acb1c5cbd19ff">
<link name="base"/>
<link name="link_0">
<visual name="rotation_lid_3">
<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.11440558821760938 -0.2886859015583081 0.42"/>
<geometry>
<mesh filename="textured_objs/original_2.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.11440558821760938 0.2886859015583081 -0.42"/>
<axis xyz="-0.644123314889653 0 0"/>
<child link="link_0"/>
<parent link="link_2"/>
<limit lower="-2.2689280275926285" upper="0.5235987755982988"/>
</joint>
<link name="link_1">
<visual name="rotation_lid_4">
<origin xyz="-0.427809 -0.288 -0.43565743326573825"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.427809 -0.288 -0.43565743326573825"/>
<geometry>
<mesh filename="textured_objs/original_1.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="0.427809 0.288 0.43565743326573825"/>
<axis xyz="1 0 0"/>
<child link="link_1"/>
<parent link="link_2"/>
<limit lower="-2.0943951023931953" upper="0.6981317007977318"/>
</joint>
<link name="link_2">
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</visual>
<visual name="base_body_6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_26.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original_3.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_2" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_2"/>
<parent link="base"/>
</joint>
</robot>
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